version: 66.09
glider: 167
mission: 8
dive: 166
start: 7 20 111 2 9 36
data:
$ID,167
$MISSION,8
$DIVE,166
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,400
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51876
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-56595.844
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,1875
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,76
$R_STBD_OVSHOOT,68
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,6
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,490
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-16.233358
$PRESSURE_SLOPE,0.0001158971
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043379883
$SEABIRD_T_H,0.00063236553
$SEABIRD_T_I,2.4503992e-05
$SEABIRD_T_J,2.6444222e-06
$SEABIRD_C_G,-9.8845854
$SEABIRD_C_H,1.1045586
$SEABIRD_C_I,-0.0015691385
$SEABIRD_C_J,0.00020000842
$GPS1,200711,015936,1815.491,12320.945,35,1.0,35,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-70.6
$GPS2,200711,020914,1815.425,12320.949,13,1.8,13,-2.0
$SPEED_LIMITS,0.143,0.244
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.013,-0.305
$KALMAN_X,-1531.9,-192.4,226.3,5724.7,67.3
$KALMAN_Y,11735.9,46.7,-129.6,-54154.7,2747.8
$MHEAD_RNG_PITCHd_Wd,268.7,117239,-15.4,-8.250
$D_GRID,3608
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.56,-146.0,0.0,0.0,0,108,0.00,0.00,-86.40,0.000,2,0.000,0.000,108,1873,3076,0,0,0,0,0,0
$GC,111,-0.56,-146.0,5.8,-9.7,11,135,9.82,2.05,-6.00,0.000,4,0.226,0.041,2614,481,3436,0,0,0,0,0,0
$GC,336,-0.56,-146.0,78.1,-22.4,51,344,0.00,2.03,0.00,0.000,6,0.000,0.020,2607,1871,3437,0,0,0,0,0,0
$GC,414,-0.56,-146.0,94.4,-20.3,64,422,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1871,3437,0,0,0,0,0,0
$GC,492,-0.56,-146.0,109.0,-19.4,77,501,0.00,2.05,0.00,0.000,4,0.000,0.025,2607,478,3437,0,0,0,0,0,0
$GC,521,-0.56,-146.0,115.0,-20.7,81,530,0.00,1.88,0.00,0.000,6,0.000,0.021,2599,1770,3437,0,0,0,0,0,0
$GC,597,-0.56,-146.0,130.2,-20.6,94,604,0.00,2.22,0.00,0.000,4,0.000,0.031,2588,3265,3438,0,0,0,0,0,0
$GC,658,-0.56,-146.0,142.4,-20.2,104,666,0.00,2.05,0.00,0.000,6,0.000,0.017,2588,1820,3438,0,0,0,0,0,0
$GC,738,-0.56,-146.0,156.9,-17.3,117,747,0.00,1.95,0.00,0.000,4,0.000,0.027,2588,480,3438,0,0,0,0,0,0
$GC,756,-0.56,-146.0,160.0,-17.5,119,764,0.10,2.10,0.00,0.000,6,0.146,0.020,2611,1930,3438,0,0,0,0,0,0
$GC,833,-0.56,-146.0,171.3,-13.3,132,842,0.00,1.98,0.00,0.000,4,0.000,0.031,2603,3268,3438,0,0,0,0,0,0
$GC,880,-0.56,-146.0,177.7,-13.7,139,888,0.00,1.75,0.00,0.000,6,0.000,0.016,2603,2003,3438,0,0,0,0,0,0
$GC,956,-0.56,-146.0,186.6,-11.5,152,964,0.00,2.20,0.00,0.000,4,0.000,0.027,2603,491,3438,0,0,0,0,0,0
$GC,1011,-0.56,-146.0,194.4,-14.9,161,1021,0.00,2.22,0.00,0.000,6,0.000,0.021,2596,2025,3439,0,0,0,0,0,0
$GC,1094,-0.56,-146.0,206.4,-14.6,171,1098,0.00,1.80,0.00,0.000,4,0.000,0.031,2587,3262,3438,0,0,0,0,0,0
$GC,1163,-0.56,-146.0,217.3,-15.8,177,1168,0.10,1.70,0.00,0.000,6,0.172,0.016,2612,1993,3438,0,0,0,0,0,0
$GC,1495,-0.56,-146.0,259.2,-11.1,208,1499,0.00,2.17,0.00,0.000,4,0.000,0.027,2612,478,3438,0,0,0,0,0,0
$GC,1550,-0.56,-146.0,265.6,-11.5,212,1558,0.00,2.25,0.00,0.000,6,0.000,0.020,2609,2032,3439,0,0,0,0,0,0
$GC,1878,-0.56,-146.0,297.7,-9.7,243,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2032,3437,0,0,0,0,0,0
$GC,2205,-0.56,-146.0,330.7,-10.1,274,2210,0.00,2.28,0.00,0.000,4,0.000,0.028,2610,489,3435,0,0,0,0,0,0
$GC,2241,-0.56,-146.0,334.4,-10.0,277,2245,0.00,2.22,0.00,0.000,6,0.000,0.020,2602,2023,3435,0,0,0,0,0,0
$GC,2571,-0.56,-146.0,365.9,-9.5,308,2575,0.00,1.83,0.00,0.000,4,0.000,0.034,2600,3271,3433,0,0,0,0,0,0
$GC,2611,-0.56,-146.0,369.8,-9.5,311,2617,0.00,1.73,0.00,0.000,6,0.000,0.017,2600,2002,3433,0,0,0,0,0,0
$GC,2937,-0.56,-146.0,400.3,-10.0,342,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2000,3430,0,0,0,0,0,0
$GC,3258,-0.56,-146.0,428.8,-8.1,372,3264,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2000,3429,0,0,0,0,0,0
$GC,3587,-0.56,-146.0,455.0,-8.3,403,3591,0.00,1.88,0.00,0.000,4,0.000,0.034,2600,3263,3427,0,0,0,0,0,0
$GC,3661,-0.56,-146.0,461.4,-8.2,409,3669,0.00,1.73,0.00,0.000,6,0.000,0.018,2600,2017,3425,0,0,0,0,0,0
$GC,3986,-0.56,-146.0,490.9,-9.0,440,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2017,3423,0,0,0,0,0,0
$GC,4301,-0.56,-146.0,515.6,-6.9,460,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2017,3421,0,0,0,0,0,0
$GC,4608,-0.56,-146.0,535.2,-6.5,475,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2017,3419,0,0,0,0,0,0
$GC,4918,-0.56,-146.0,559.7,-8.4,490,4922,0.00,2.22,0.00,0.000,4,0.000,0.030,2600,491,3417,0,0,0,0,0,0
$GC,4952,-0.56,-146.0,562.9,-8.8,491,4958,0.00,2.28,0.00,0.000,6,0.000,0.021,2599,2054,3417,0,0,0,0,0,0
$GC,5268,-0.56,-146.0,589.5,-8.1,507,5272,0.00,2.30,0.00,0.000,4,0.000,0.028,2600,491,3415,0,0,0,0,0,0
$GC,5289,-0.56,-146.0,591.5,-8.0,508,5294,0.00,2.22,0.00,0.000,6,0.000,0.021,2592,2026,3415,0,0,0,0,0,0
$GC,5613,-0.56,-146.0,614.2,-6.4,524,5617,0.00,1.80,0.00,0.000,4,0.000,0.037,2588,3258,3412,0,0,0,0,0,0
$GC,5646,-0.56,-146.0,616.5,-6.3,525,5650,0.00,1.73,0.00,0.000,6,0.000,0.021,2588,2031,3412,0,0,0,0,0,0
$GC,5970,-0.56,-146.0,639.2,-7.2,541,5974,0.00,2.28,0.00,0.000,4,0.000,0.031,2588,494,3410,0,0,0,0,0,0
$GC,6105,-0.56,-146.0,650.5,-8.3,547,6109,0.00,2.17,0.00,0.000,6,0.000,0.023,2587,2000,3408,0,0,0,0,0,0
$GC,6433,-0.56,-146.0,676.5,-8.1,563,6437,0.10,1.88,0.00,0.000,4,0.181,0.038,2613,3261,3407,0,0,0,0,0,0
$GC,6472,-0.56,-146.0,679.7,-8.3,564,6478,0.00,1.77,0.00,0.000,6,0.000,0.019,2613,1993,3406,0,0,0,0,0,0
$GC,6788,-0.56,-146.0,702.5,-7.3,580,6792,0.00,2.20,0.00,0.000,4,0.000,0.030,2613,489,3405,0,0,0,0,0,0
$GC,6889,-0.56,-146.0,710.4,-7.7,584,6896,0.00,2.17,0.00,0.000,6,0.000,0.022,2613,1991,3404,0,0,0,0,0,0
$GC,7206,-0.56,-146.0,731.7,-6.2,600,7209,0.00,1.90,0.00,0.000,4,0.000,0.037,2613,3265,3402,0,0,0,0,0,0
$GC,7276,-0.56,-146.0,736.0,-6.3,603,7279,0.00,1.80,0.00,0.000,6,0.000,0.020,2613,1989,3402,0,0,0,0,0,0
$GC,7610,-0.56,-146.0,757.3,-6.5,619,7614,0.00,2.20,0.00,0.000,4,0.000,0.031,2613,490,3400,0,0,0,0,0,0
$GC,7705,-0.56,-146.0,764.3,-7.3,623,7709,0.00,2.17,0.00,0.000,6,0.000,0.022,2613,1978,3399,0,0,0,0,0,0
$GC,8023,-0.56,-146.0,783.1,-5.7,638,8028,0.00,1.95,0.00,0.000,4,0.000,0.038,2613,3263,3398,0,0,0,0,0,0
$GC,8069,-0.56,-146.0,785.7,-5.6,640,8074,0.00,1.83,0.00,0.000,6,0.000,0.019,2613,1986,3398,0,0,0,0,0,0
$GC,8403,-0.56,-146.0,803.7,-5.2,656,8407,0.00,2.20,0.00,0.000,4,0.000,0.031,2613,488,3396,0,0,0,0,0,0
$GC,8447,-0.56,-146.0,806.4,-5.2,658,8451,0.00,2.20,0.00,0.000,6,0.000,0.022,2613,1988,3396,0,0,0,0,0,0
$GC,8770,-0.56,-146.0,823.5,-5.5,674,8771,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1988,3395,0,0,0,0,0,0
$GC,9080,-0.56,-146.0,840.4,-5.5,689,9083,0.00,1.88,0.00,0.000,4,0.000,0.039,2613,3256,3394,0,0,0,0,0,0
$GC,9130,-0.56,-146.0,843.5,-5.6,691,9134,0.00,1.80,0.00,0.000,6,0.000,0.020,2613,1987,3394,0,0,0,0,0,0
$GC,9459,-0.56,-146.0,862.3,-5.8,707,9464,0.00,2.22,0.00,0.000,4,0.000,0.031,2613,495,3393,0,0,0,0,0,0
$GC,9514,-0.56,-146.0,866.1,-6.9,709,9518,0.00,2.17,0.00,0.000,6,0.000,0.024,2613,1975,3393,0,0,0,0,0,0
$GC,9831,-0.56,-146.0,883.9,-5.5,724,9834,0.00,1.92,0.00,0.000,4,0.000,0.039,2613,3258,3391,0,0,0,0,0,0
$GC,9905,-0.56,-146.0,888.2,-5.7,727,9909,0.00,1.77,0.00,0.000,6,0.000,0.020,2613,2002,3391,0,0,0,0,0,0
$GC,10233,-0.56,-146.0,906.2,-5.4,743,10234,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2001,3390,0,0,0,0,0,0
$GC,10544,-0.56,-146.0,922.3,-5.1,758,10547,0.00,1.90,0.00,0.000,4,0.000,0.039,2613,3263,3389,0,0,0,0,0,0
$GC,10571,-0.56,-146.0,923.8,-5.2,759,10575,0.00,1.77,0.00,0.000,6,0.000,0.021,2613,2019,3389,0,0,0,0,0,0
$GC,10899,-0.56,-146.0,942.7,-6.2,775,10904,0.00,2.28,0.00,0.000,4,0.000,0.031,2613,493,3388,0,0,0,0,0,0
$GC,10927,-0.56,-146.0,944.6,-6.1,776,10931,0.00,2.28,0.00,0.000,6,0.000,0.024,2613,2034,3388,0,0,0,0,0,0
$GC,11250,-0.56,-146.0,966.6,-7.1,792,11253,0.00,1.83,0.00,0.000,4,0.000,0.041,2613,3260,3387,0,0,0,0,0,0
$GC,11284,-0.56,-146.0,969.2,-7.0,793,11288,0.00,1.75,0.00,0.000,6,0.000,0.020,2613,2028,3387,0,0,0,0,0,0
$GC,11607,-0.56,-146.0,989.7,-6.1,809,11609,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2027,3386,0,0,0,0,0,0
$STATE,11624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11624,begin apogee
$GC,11630,-0.20,0.0,990.9,6.0,810,11749,0.32,0.00,111.72,1.418,4,0.118,0.000,2727,2024,2839,0,0,0,0,0,0
$STATE,11750,end apogee,CONTROL_FINISHED_OK
$STATE,11750,begin climb
$GC,11752,0.56,146.0,994.4,0.0,815,11889,0.73,0.00,125.72,1.371,6,0.082,0.000,2980,2023,2241,0,0,0,0,0,0
$GC,12198,0.56,146.0,952.6,11.0,837,12202,0.00,2.28,0.00,0.000,4,0.000,0.038,2980,3453,2231,0,0,0,0,0,0
$GC,12269,0.56,146.0,943.6,12.1,840,12273,0.00,2.03,0.00,0.000,6,0.000,0.020,2989,2092,2230,0,0,0,0,0,0
$GC,12598,0.56,146.0,906.8,11.1,856,12603,0.00,2.12,0.00,0.000,4,0.000,0.033,2998,694,2228,0,0,0,0,0,0
$GC,12675,0.56,146.0,898.1,10.7,859,12680,0.00,2.05,0.00,0.000,6,0.000,0.024,2998,2061,2228,0,0,0,0,0,0
$GC,12998,0.56,146.0,863.9,10.8,875,12999,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2061,2226,0,0,0,0,0,0
$GC,13308,0.56,146.0,829.9,11.1,890,13310,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2061,2226,0,0,0,0,0,0
$GC,13617,0.56,146.0,794.0,11.5,905,13618,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2061,2225,0,0,0,0,0,0
$GC,13925,0.56,146.0,757.3,12.1,920,13929,0.00,2.05,0.00,0.000,4,0.000,0.031,3007,695,2225,0,0,0,0,0,0
$GC,13959,0.56,146.0,753.1,12.2,921,13963,0.00,2.05,0.00,0.000,6,0.000,0.023,3007,2073,2225,0,0,0,0,0,0
$GC,14282,0.56,146.0,714.9,11.6,937,14283,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2073,2224,0,0,0,0,0,0
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$STATE,21899,end climb,SURFACE_DEPTH_REACHED
$STATE,21899,begin surface coast
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$FG_AHR_10Vo,0.000
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